Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B11/00—Measuring arrangements characterised by the use of optical techniques
  • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
  • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
  • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns

Definitions

• the invention relates to a method for determining the spatial coordinates of an object according to the preamble of the main claim and an apparatus for performing the method.
• One method is the classic stripe projection technology, which uses one or more CCD cameras and a projector is realized.
• CCD cameras DE 41 20 115 C2, DE 41 15 445 AI.
• the grid lines or Gray code sequences are projected onto the surface to be measured.
• a CCD camera registers the intensity of a pixel on the surface of each of its receiver elements
• Known mathematical algorithms are used to calculate phase measured values from the intensity measured values.
• the object coordinates sought can subsequently be calculated from the measured phase values and the image coordinates of the measuring points in the image plane of the recording system.
• this requires knowledge of the geometry of the measuring system (orientation parameters of the projector and camera) and the imaging properties of the projection and imaging optics.
• the number of orientation parameters to be determined can be considerably restricted if only the phase measurement values are used to calculate the coordinates.
• the position of an individual receiver element in the recording system exclusively determines the measurement location, but is not evaluated as measurement information.
• coordinates can be calculated, for example, with a known geometry of the lighting system.
• the system parameters (orientation parameters) must be recorded separately, this typically being done by a so-called pre-calibration of the system.
• Photogrammetric measuring methods overcome the difficulty of a separate calibration procedure.
• Measurement information is used here for the image coordinates, that is to say the position of the measurement points in the grid of the recording system.
• the image coordinates for an object point must be known from at least two different camera positions. It is advantageous with these measuring methods that an excess measurement value can be obtained per measuring point, i.e. with two camera positions there is one more measurement value than is required to calculate the three coordinates of a point. In this way it is possible, with a sufficient number of measuring points, to simultaneously calculate coordinates, inner and outer orientation parameters of the cameras and correction parameters for the distortion. Difficulties arise, however, in finding the homologous points necessary for this, especially for a large number of measuring points.
• textures or surface structures from different images must be set in ratios in complex image processing procedures (DE 195 36 296 AI). This is not possible with justifiable effort, especially for a complete area coverage of an object surface. Markings are also required as connection points for joining the partial views.
• a system is proposed in DE 196 37 682 AI gene that overcomes these problems.
• a projection system illuminates the scene with a series of stripe images consisting of two sequences rotated by 90 ° to each other.
• stripe images projected onto the object from two different positions, while simultaneously observing with a fixedly positioned camera, enable an evaluation according to the functional model of photography.
• Disadvantages of this system concept arise above all in the complete measurement of complex objects.
• the number of views required increases with the complexity of the measurement object.
• it does not make sense to increase the number of cameras, since measurement information is only available at an object point, which is both illuminated from two different directions and is observed by the camera. Adjusting the measuring system, ie setting up the required cameras, is more difficult the more views have to be set up.
• the invention has for its object to provide a method for determining the spatial coordinates of an object with which a measurement of complex objects without markings or textures, without finding homologous points and without geometric or optical system sizes are known or before must be calibrated, is possible, the number of possible recording directions is not limited by the number of cameras and the measuring time can be reduced.
• Light patterns projected onto the object are not only recorded point by point as an image not only by an assigned first recording device but additionally by at least one second recording device, the at least one second recording device remaining stationary with respect to the object to be measured and not like the projection device and the the first recording device is displaced and that from those recorded with the second recording device
• phase measurement values are determined from points of the projected light pattern, from which the parameters of the projection device are determined for all directions of the projection, it is possible to calibrate the system separately for measurement.
• the object can be detected from any number of directions due to the freely movable sensor arrangement consisting of the projection device and the first recording device.
• the data necessary for the calibration are recorded during the recording of the measured values, a separation between the stationary calibration camera and the movable measuring camera being realized.
• the number of object views to be digitized is in principle free and is not limited to the number of cameras used, but can be chosen larger. Due to the self-calibration, the measuring sensor arrangement can be subject to mechanical changes during the measuring process without these influencing the measuring result.
• FIG. 2 shows a first exemplary embodiment of a measuring device used in the method according to the invention
• 3 shows a second exemplary embodiment of a device for carrying out the method according to the invention
• FIG. 4 shows a third exemplary embodiment of a measuring device for carrying out the method according to the invention
• FIG. 5 shows a fourth exemplary embodiment of a measuring device for carrying out the method according to the invention
• FIG. 6 shows a fifth exemplary embodiment of a measuring device for carrying out the method according to the invention.
• FIG. 7 shows a sixth exemplary embodiment of a measuring device for carrying out the method according to the invention.
• the method according to the invention is described below using FIGS. 1, 2 and 3.
• the object 1 to be measured or the object is fastened, for example, on a measuring table and is illuminated on a tripod by a projector 3 forming part of a sensor arrangement 2.
• a camera 4, which also forms part of the sensor arrangement 2 records the image of the illuminated object 1 or of the object area.
• the recording device designed as a camera is a CCD camera on a tripod.
• the projector 3 and the camera 4 are independent of one another, while in FIG. 3 the projector 3 and the camera 4 are rigidly connected to one another on a tripod. are bound, which leads to a simplification of the measured value recording.
• the figures 2 and 3 show the sensor arrangement 2 in two different positions, the position 1 being shown with solid lines and the position 2 being shown with dashed lines.
• the projector 3 projects light patterns onto the object 1 to be measured or an object area, which are designed as line gratings and / or gray code sequences.
• the camera 4 registers the intensity of the stripe images depicted on the object 1 as measured values on each of its receiver elements.
• the grating and / or the gray code sequence is then rotated through 90 ° and projected onto the object 1 again, the axis of rotation being parallel to the optical axis of the projection system.
• a so-called calibration camera 5 is provided, which is likewise designed as a CCD camera and takes pictures of the object 1 or an object area.
• photodetectors can also be provided and since only a limited number of measuring points have to be recorded, only three photodetectors have to be used as a minimum number.
• Fig. 1 the basic relationships in the measurement process are shown. From sensor position 1, which is shown in FIGS. 2 and 3 are marked with solid lines, as explained above, light patterns are projected onto the object 1 by means of the projector 3 in such a way that two phase fields which are rotated by an angle (optimally by 90 °) are obtained, as a result of which each measuring point is signaled on object 1 with two phase values.
• the projector 3 pro For example, a series of two structural sequences of phase-shifted grid lines and / or Gray code sequences jets onto the object 1 to be measured or an object area, the two sequences having a 90 ° rotation relative to one another.
• the calibration camera 5 records the intensity measurements of the individual images of the sequences on each of its receiver elements.
• phase measurements which correspond to the coordinates in the grating plane of the projection system, can be calculated from the images recorded with the measuring camera 4 and the calibration camera 5 at each camera pixel point, both for the measuring camera 4 and for the calibration camera 5, whereby by the selected type of stripe projection, e.g. twisted lattice sequences at the observed point of the object 1 up to two phase measurements per illumination direction can be obtained.
• the selected type of stripe projection e.g. twisted lattice sequences at the observed point of the object 1 up to two phase measurements per illumination direction can be obtained.
• the sensor arrangement 2 is moved from the sensor position 1 to any other position, this position 2 in FIGS. Fig. 3 is shown by the dashed lines.
• the position of the calibration camera 5 relative to the object 1 remains unchanged. From this new position of the sensor arrangement 2, further structural sequences or grating lines are projected onto the object 1 or the object area in the same way as listed above, the measuring camera 4 as well as the calibration camera 5, in turn, the image sequences or record parts of it simultaneously.
• This process of converting the sensor arrangement 2 in further positions can be repeated until each area of the object to be measured has been detected at least once by the sensor arrangement 2, ie illuminated by the projector 3 and observed simultaneously with the measuring camera 4.
• the measured values can be recorded at the different positions in succession and the necessary calculations can then be carried out. However, calculations can also be made for each new position.
• the sensor arrangement 2 and the calibration camera 5 are connected to an evaluation device in which the necessary mathematical calculations for determining the three-dimensional coordinates of the object are carried out.
• an evaluation device in which the necessary mathematical calculations for determining the three-dimensional coordinates of the object are carried out.
• the spatial position of the individual projector positions is determined by six external orientation parameters (three coordinates of the projection centers, three Euler's angle of rotation around the co-rotating coordinate axes).
• an equation system is set up with functional models of the programmetry.
• the four measured phase values or those calculated from the measured values serve as input variables.
• the spatial position of the measuring camera 4 which is also determined by orientation parameters, is also determined via the evaluation device. Knowledge of the projection device and two phase measurements are used.
• the evaluation of the measurement process to determine the 3-D coordinates of the surface of the object 1 is a three-stage process. In principle, all projector positions are calculated first, i.e. calibrated, then all measuring camera positions and finally the 3-D coordinates of the coordinates of the object detected by the positions of the sensor arrangement 2 are calculated. As stated above, this takes place after the entire measured value recording or between the measured value recording at different positions.
• a first evaluation step using the projector image coordinates ( ⁇ P ⁇ , k ⁇ ⁇ P ⁇ , k) recorded with the stationary calibration camera 5 on the picture elements (i m k , j), ie phase measurement values that describe the object point O k , the external ones and internal orientation parameters for all projector positions NEN 1 is calculated using known bundle block compensation methods.
• the basic condition for this is that at least four phase images are available for the stationary camera, which were generated during projection from at least two different project positions 1.
• the six outer orientation parameters are thus calculated for each projector position, which serve as the geometry parameters of the projectors and describe the spatial position of the individual projector positions. This calculation can be understood as a calibration.
• the calibration camera as an overview camera thus serves to register the homologous points or their pixels as "virtual homologous points”.
• a plurality of calibration cameras 5 can be provided which have a fixed relationship to the object point, the number of cameras being designated m (m> 1). These calibration cameras 5 are arranged in different observation positions and a larger object area can thus be captured, i.e. complicated objects are measured.
• the camera 4 picks up the object 1 with its grid of receiver elements, a point Oi being picked out of the area here, which is identified by the beams 9 and 10.
• a point Oi being picked out of the area here, which is identified by the beams 9 and 10.
• two measurement information items ( ⁇ P ⁇ , ⁇ , ⁇ P ⁇ , ⁇ ) are obtained in the form of phase measurement values which correspond to the projector image coordinates in the grid plane.
• the orientation parameters of the measuring camera 4 at position 1 are calculated via a free bundle compensation, ie the measuring camera is calibrated with respect to its position.
• ixj is the number of pixels of the measuring camera 4 in the row and column direction.
• the necessary orientation parameters describing the sensor arrangement 2 at position 1 are available, the projector 3 being calibrated at this position with the first evaluation step and the camera 4 being calibrated at this position with the second evaluation step.
• the three-dimensional coordinates of the point Oi and corresponding to all object points (ixj) visible from the camera 4 in this position 1 or view 1 are obtained from the phase images by classic triangulation be calculated. Since the object point was signaled by two grid sequences and thus two phase images are available, but only one phase measurement value is necessary, there is in principle the possibility of calculating each point twice and calculating them via averaging, which increases the coordinate measuring accuracy.
• Evaluation steps two and three are carried out for position 2 of sensor arrangement 2 and subsequently step by step for all subsequent positions leads.
• a 3-D point cloud of the object is obtained with the measuring camera 4 from 1 observation positions and, if a plurality of calibration cameras 5 are present, additionally from m observation positions.
• Figs. 4 to 7 show further possibilities of a device for carrying out the method.
• a plurality of calibration cameras 5 are fastened to a frame 11, under which the object 1 is arranged and which consists of two portal-like carrier elements 12 arranged in parallel and a crossbar 13 connecting the carrier elements 12.
• the sensor arrangement 2 is fastened to a rotating part 14 which can be rotated in all spatial directions, it also being possible to change the angle of the camera and / or the projector 3 with respect to the vertical.
• the object 1 is arranged on a measuring table 15 and a calibration camera 5 is fixedly attached to a frame 16 above the object.
• the sensor arrangement 2 is in turn on a rotary unit
• the sensor arrangement thus rotates around the object 1 at an angle to the vertical.
• the measuring table is in the form of a turntable
• the calibration camera 5 is fastened to the rotary table via an arm 20 in such a way that it stands above the object 1.
• Measuring camera 4 and projector 3 of the sensor arrangement 2 are attached to a bar 21 which is rigidly connected to the base 19.
• Fig. 7 is another device shown to perform the procedure.
• the sensor arrangement 2 is attached to a circular guide track 22 rotatable about the object 1 in such a way that it can move on the guide track on the semicircle and can be freely positioned, the guide track 22 around the object 1 through an angle of up to 360 ° is freely rotatable.
• a plurality of calibration cameras 5 are attached to a frame 23 surrounding the guideway. Both the top and the bottom of the object 1 can thus be detected.

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• Engineering & Computer Science (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Length Measuring Devices By Optical Means (AREA)
• Image Analysis (AREA)

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• 2002
  • 2002-04-24 DE DE10219054A patent/DE10219054B4/de not_active Expired - Lifetime
• 2003
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  • 2003-04-23 AT AT03720517T patent/ATE493633T1/de active
  • 2003-04-23 WO PCT/EP2003/004210 patent/WO2003091660A1/fr active Application Filing
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